WO2015031478A1 - Système d'imagerie et procédé de détection de brouillard - Google Patents

Système d'imagerie et procédé de détection de brouillard Download PDF

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Publication number
WO2015031478A1
WO2015031478A1 PCT/US2014/052907 US2014052907W WO2015031478A1 WO 2015031478 A1 WO2015031478 A1 WO 2015031478A1 US 2014052907 W US2014052907 W US 2014052907W WO 2015031478 A1 WO2015031478 A1 WO 2015031478A1
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WO
WIPO (PCT)
Prior art keywords
light
lights
fog
foggy
controller
Prior art date
Application number
PCT/US2014/052907
Other languages
English (en)
Inventor
Oliver M. JEROMIN
David M. Falb
Jeremy A. Schut
Original Assignee
Gentex Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gentex Corporation filed Critical Gentex Corporation
Publication of WO2015031478A1 publication Critical patent/WO2015031478A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/18—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights being additional front lights
    • B60Q1/20—Fog lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/312—Adverse weather

Definitions

  • the present invention generally relates to an imaging system for vehicular use.
  • the present invention provides an imaging system with improved features for fog detection.
  • an imaging system for fog detection includes an imager configured to image a scene external and forward of a controlled vehicle and to generate image data corresponding to the acquired images.
  • a controller is configured to receive and ana lyze the image data. When exterior lights of the controlled vehicle are operated in a low beam state, the controller is able to detect light sources of interest in the image data, determine if each light source of interest is a foggy light or a clear light, and generate a first signal if a fog entry condition is satisfied.
  • a method of fog detection includes the steps of operating exterior lights of a controlled vehicle in a low beam state; imaging a scene external and forward of the controlled vehicle and generating image data corresponding to the acquired images; analyzing the image data to detect light sources of interest; determining if each light source of interest is a foggy light or a clear light; and generating a first signal if a fog entry condition is satisfied.
  • a non-transitory computer-readable medium having stored thereon software instructions that, when executed by a processor, includes the steps of operating exterior lights of a controlled vehicle in a low beam state; imaging a scene external and forward of the controlled vehicle and generating image data corresponding to the acquired images; analyzing the image data to detect light sources of interest; determining if each light source of interest is a foggy light or a clear light; and generating a first signal if a fog entry condition is satisfied.
  • FIG. 1 is a block diagram of an imaging system constructed according to an embodiment of the present invention
  • FIG. 2 is a partial cross section of a rearview mirror assembly incorporating an imaging system according to a nother embodiment of the present invention
  • FIG. 3 is a pictoria l representation of an imaged scene showing an oncoming vehicle head light at a first distance du ring clear conditions
  • FIG. 4 is another pictoria l representation of an imaged scene showing an oncoming vehicle headlight at a second distance during clear conditions
  • FIG. 5 is yet another pictorial representation of an imaged scene showing an oncoming vehicle headlight at approximately the first distance during foggy conditions
  • FIG. 6 is yet another pictorial representation of an imaged scene showing an oncoming vehicle heading at a pproximately the second distance during foggy conditions;
  • FIG. 7 is a pictorial representation of a color filter used to im plement a light metric
  • FIG. 8 is a flow chart illustrating a method for fog detection.
  • the term "and/or,” when used in a list of two or more items, means that any one of the listed items can be employed by itself, or any combination of two or more of the listed items can be employed.
  • the com position can contain A alone; B alone; C alone; A and B in combination, A and C in combination; B and C in combination; or A, B, and C in combination.
  • the embodiments described herein relate to an imaging system that may be used for controlling exterior lights of a controlled vehicle in response to image data acquired from an image sensor, which captures images forward of the vehicle.
  • Auto High Beam (AHB) and alternate methods of controlling the light beam illumination in front of a motor vehicle maximizes the use of high beams at night by identifying oncoming and preceding vehicles and automatically controlling the high beam lighting pattern. This prevents glare to other vehicles, yet maintains a high beam light distribution to illuminate areas not occupied by other vehicles.
  • Prior systems are known for controlling exterior vehicle lights in response to images captured forward of the vehicle. In these prior systems, a controller would analyze the captured images and determine if any preceding or oncoming vehicles were present in a glare area in front of the vehicle employing the system.
  • This "glare area” was the area in which the exterior lights would cause excessive glare to a driver if the exterior lights were in a high beam state (or some state other than a low beam state). If a vehicle was present in the glare area, the controller would respond by changing the state of the exterior lights so as to not cause glare for the other driver(s). Examples of such systems are described in United States Patent Nos.
  • the controller would analyze the captured images to detect whether the vehicle was in or entering a village (or town) that is sufficiently lighted. The controller would then typically either place the exterior lights in a low beam state or otherwise inhibit operation of high beam headlights. The high beams or alternate beam illumination are then reactivated when the village area is exited.
  • Various methods are used including detecting streetlights or measuring the ambient brightness level when entering a village to determine whether to activate or reactivate the high beam headlights. Examples of such systems are described in United States Patent Nos. 6,861,809, 7,565,006, and 8,045,760, and also in United States Patent Application No.
  • the controller When driving in a high beam state, the controller in some prior systems would analyze the captured images to detect an atmospheric condition, such as fog or other air particulates suspended in air. I n foggy conditions, the presence of fog particles causes light emitted from a vehicle to be reflected back towards the vehicle, a phenomenon referred to herein as backscattering. When backscattering occurs, a driver's vision of the road may be impaired and the enabling of high beams may further exacerbate the situation. In response, some prior systems would detect the presence of backscatter. Upon determining that a foggy condition exists, the controller would typically place the exterior lights in a lower beam state and/or otherwise inhibit automatic control of the high beams.
  • an atmospheric condition such as fog or other air particulates suspended in air.
  • the controller would automatically adjust vehicle front and rear fog lights based on the detection of the foggy condition. Examples of such systems are described in U.S. Patent Nos. 6,587,573 and 8,045,760, the entire disclosures of which are incorporated herein by reference.
  • the previously described systems are successful in detecting fog, they often rely upon the presence of backscatter, which is more easily detected when high beams are enabled.
  • the use of high beams may be inhibited and/or undesirable.
  • the use of high beams may be inhibited while a vehicle is travelling inside a village or other well-illuminated areas.
  • the use of high beams may be inhibited so as not to cause glare to oncoming drivers.
  • a driver may manually enable the high beams, doing so may cause an unnecessary distraction to the driver of the vehicle as well as other people in the vicinity such as other drivers, pedestrians, etc.
  • Imaging system 10 may be provided for controlling exterior lights 80 and, optionally, other equipment (50, 62) of a controlled vehicle.
  • System 10 includes an imager 20 and a controller 30.
  • Imager 20 includes an image sensor (201, FIG. 2) having a plurality of pixels and is configured to image a scene external and forward of the controlled vehicle and to generate image data corresponding to the acquired images.
  • Controller 30 receives and analyzes the image data and generates a signal that may be used to control exterior lights 80 and may generate signals to control any additional equipment (50, 62). These signals are generated in response to ana lysis of the image data.
  • Controller 30 may be configured to directly connect to the equipment (50) being controlled such that the generated signals directly control the equipment.
  • controller 30 may be configured to connect to an equipment control (60 and 70), which, in turn, is connected to the equipment being controlled (62 and 80) such that the signals generated by controller 30 only indirectly controls the equipment.
  • controller 30 may analyze the image data from imager system 20 so as to generate signals that are more of a recommendation for an exterior light control 70 to use when controlling exterior lights 80.
  • the signals may further include not just a recommendation, but also a code representing a reason for the recommendation so that equipment controls (60 and 70) may determine whether or not to override a recommendation.
  • the signal may include an indication that fog has been detected. Such a fog indication signal is particularly useful when an equipment control (60 and 70) that is separate from controller 30 performs the direct control of the equipment (62 and 80).
  • various inputs may be provided to controller 30 that may be taken into account in forming a recommendation or direct control signal.
  • such inputs may instead be provided to equipment control (60 and 70).
  • equipment control 60 and 70
  • input from manual switches may be provided to equipment control (60 and 70), which may allow equipment control (60 and 70) to override a recommendation from controller 30.
  • controller 30 and equipment controls 60 and 70
  • One reason for separating control functions is to allow imager 20 to be located in the best location in the vehicle for obtaining images, which may be a distance from the equipment to be controlled and to allow communication over the vehicle bus 25.
  • the equipment that imaging system 10 can control may include one or more exterior lights 80 and the signal generated by controller 30 may be an exterior light control signal.
  • exterior lights 80 may be controlled directly by controller 30 or by an exterior light control 70, which receives a signal from controller 30.
  • the "exterior lights” broadly includes any exterior lighting on the vehicle. Such exterior lights may include headlights (both low and high beam if separate from one another), tail lights, foul weather lights such as fog lights, brake lights, center-mounted stop lights (CHMSLs), turn signals, back-up lights, etc.
  • the exterior lights may be operated in several different modes including conventional low beam and high beam states. They may also be operated as daytime running lights, and additionally as super-bright high beams in those countries where they are permitted.
  • the exterior light brightness may also be continuously varied between the low, high, and super-high states. Separate lights may be provided for obtaining each of these exterior lighting states or the actual brightness of the exterior lights may be varied to provide these different exterior lighting states. I n either case, the "perceived brightness” or illumination pattern of the exterior lights is varied. As used herein, the term “perceived brightness” means the brightness of the exterior lights as perceived by an observer outside the vehicle. Most typically, such observers will be drivers or passengers in a preceding vehicle or in a vehicle traveling along the same street in the opposite direction.
  • the exterior lights are controlled such that if an observer is located in a vehicle within a "glare area" relative to the vehicle (i.e., the area in which the observer would perceive the brightness of the exterior lights as causing excessive glare), the beam illumination pattern is varied such that the observer is no longer in the glare area.
  • the perceived brightness and/or glare area of the exterior lights may be varied by changing the illumination output of one or more exterior lights, by steering one or more lights to change the aim of one or more of the exterior lights, selectively blocking or otherwise activating or deactivating some or all of the exterior lights, altering the illumination pattern forward of the vehicle, or a combination of the above.
  • Imager 20 may be any conventional imager. Examples of suitable imagers are disclosed in published United States Patent Application Publication Nos. 20120072080 Al and United States Patent No. 8,289,430, and in United States Provisional Application Nos. 61/500,418 entitled “M EDIAN FILTER” filed on June 23, 2011, by Jon H. Bechtel et al.; 61/544,315 entitled “M EDIAN FILTER” and filed on October 7, 2011, by Jon H. Bechtel et al.; 61/556,864 entitled "HIGH DYNAMIC RANGE CAMERA LOW LIGHT LEVEL FILTERING" filed on November 8, 2011, by Jon H. Bechtel et al., the entire disclosures of which are incorporated herein by reference.
  • the imager 20 system includes an image sensor (201, FIG. 2) (or camera) to capture images that may then be displayed and/or analyzed in order to control vehicle equipment in addition to exterior lights.
  • imagers have been used for lane departure warning systems, forward collision warning systems, adaptive cruise control systems, pedestrian detection systems, night vision systems, terrain detection systems, parking assist systems, traffic sign recognition systems, and reverse camera display systems. Examples of systems using imagers for such purposes are disclosed in United States Patent Nos.
  • imager 20 may be controlled by controller 30.
  • Controller 30 serves to perform equipment control functions by analyzing images from imager 20, determining an equipment (or exterior light) state based upon information detected within those images, and communicating the determined equipment (or exterior light) state to the equipment 50, equipment control 60, or exterior light control 70 through bus 42, which may be the vehicle bus 25, a CAN bus, a LIN bus or any other suitable communication link. Controller 30 may control the imager 20 to be activated in several different modes with different exposure times and different readout windows. Controller 30 may be used to both perform the equipment or exterior light control function and control the pa rameters of imaging imager 20.
  • Controller 30 can also take advantage of the availability of signals (such as vehicle speed, steering wheel angle, pitch, roll, and yaw) communicated via discreet connections or over the vehicle bus 25 in making decisions regarding the operation of the exterior lights 80.
  • speed input 21 provides vehicle speed information to the controller 30 from which speed ca n be a factor in determining the control state for the exterior lights 80 or other equipment.
  • the reverse signal 22 informs controller 30 that the vehicle is in reverse, responsive to which the controller 30 may clear an electrochromic mirror element regardless of signals output from light sensors.
  • Auto ON/OFF switch input 23 is connected to a switch having two states to dictate to controller 30 whether the vehicle exterior lights 80 should be automatically or manually controlled.
  • the auto ON/OFF switch (not shown) connected to the ON/OFF switch input 23 may be incorporated with the headlight switches that are traditionally mounted on the vehicle dashboard or incorporated into steering wheel column levels.
  • Manual dimmer switch input 24 is connected to a ma nually actuated switch (not shown) to provide a manual override signal for an exterior light control state.
  • Some or all of the inputs 21, 22, 23, 24 and outputs 42a, 42b, and 42c, as well as any other possible inputs or outputs, such as a steering wheel input, can optionally be provided through vehicle bus 25 shown in FIG. 1. Alternatively, these inputs 21-24 may be provided to equipment control 60 or exterior light control 70.
  • Controller 30 can control, at least in part, other equipment 50 within the vehicle which is connected to controller 30 via vehicle bus 42.
  • equipment 50 that may be controlled by controller 30: exterior lights 80, a rain sensor, a compass, information displays, windshield wipers, a heater, a defroster, a defogger, an air conditioning system, a telephone system, a navigation system, a security system, a tire pressure monitoring system, a garage door opening transmitter, a remote keyless entry system, a telematics system, a voice recognition system such as a digital signal processor based voice actuation system, a vehicle speed control, interior lights, rearview mirrors, an audio system, an engine control system, and various other switches and other display devices that may be located throughout the vehicle.
  • controller 30 may be, at least in part, located within a rearview assembly of a vehicle or located elsewhere within the vehicle.
  • the controller 30 may also use a second controller (or controllers), equipment control 60, which may be located in a rearview assembly or elsewhere in the vehicle in order to control certain kinds of equipment 62.
  • Equipment control 60 ca n be connected to receive via vehicle bus 42 signals generated by controller 30.
  • Equipment control 60 subsequently communicates and controls equipment 62 via bus 61.
  • equipment control 60 may be a windshield wiper control unit which controls windshield wiper equipment, turning this equipment ON or OFF.
  • Equipment control may also be an electrochromic mirror control unit where controller 30 is programmed to communicate with the electrochromic control unit in order for the electrochromic control unit to change the reflectivity of the electrochromic mirror(s) in response to information obtained from an ambient light sensor, a glare sensor, as well as any other components coupled to the processor.
  • equipment control unit 60 in communication with controller 30 may control the following equipment: exterior lights, a rain sensor, a compass, information displays, windshield wipers, a heater, a defroster, a defogger, air conditioning, a telephone system, a navigation system, a security system, a tire pressure monitoring system, a garage door opening transmitter, a remote keyless entry, a telemetry system, a voice recognition system such as a digital signal processor-based voice actuation systems, a vehicle speed, interior lights, rearview mirrors, an audio system, a climate control, an engine control, and various other switches and other display devices that may be located throughout the vehicle.
  • equipment control unit 60 in communication with controller 30 may control the following equipment: exterior lights, a rain sensor, a compass, information displays, windshield wipers, a heater, a defroster, a defogger, air conditioning, a telephone system, a navigation system, a security system, a tire pressure monitoring system, a garage door opening transmitter, a remote key
  • imaging system 10 can be advantageously integrated into a rearview assembly 200 as illustrated in FIG. 2, wherein imager 20 is integrated into a mount 203 of rearview assembly 200. This location provides an unobstructed forward view through a region of the windshield 202 of the vehicle that is typically cleaned by the vehicle's windshield wipers (not shown). Additionally, mounting the image sensor 201 of imager 20 in the rearview assembly 200 permits sharing of circuitry such as the power supply, microcontroller and light sensors.
  • image sensor 201 is mounted within rearview mount 203, which is mounted to vehicle windshield 202.
  • the rearview mount 203 provides an opaque enclosure for the image sensor with the exception of an a perture through which light is received from a forward external scene.
  • Controller 30 of FIG. 1 may be provided on a main circuit board 215 and mounted in rearview housing 204 as shown in FIG. 2. As discussed above, controller 30 may be connected to imager 20 by a bus 40 or other means.
  • the main circuit board 215 may be mounted within rearview housing 204 by conventiona l means. Power and a communication link 42 with the vehicle electrical system, including the exterior lights 80 (FIG. 1), are provided via a vehicle wiring harness 217 (FIG. 2).
  • Rearview assembly 200 may include a mirror element or a display that displays a rearward view.
  • the mirror element may be a prismatic element or an electro-optic element, such as an electrochromic element.
  • the current system 10 advantageously provides a means to detect a foggy condition without having to be in a high beam state.
  • the controller 30 analyzes the image data to detect one or more light sources of interest therein.
  • the light source of interest may include oncoming vehicle headlights, taillights, and/or streetlights as such light sources behave in predictable manners when exposed to a foggy condition.
  • FIGS. 3 and 4 are pictorial representations of a n imaged scene 82 depicting oncoming vehicle headlights 83 at two different distances during clear conditions.
  • FIGS. 5 and 6 are pictorial representations of an imaged scene 84 depicting oncoming vehicle headlights 85 at distances substantially similar to those shown in FIGS. 3 and 4, respectively, with the exception that the conditions are foggy instead of clear.
  • light outputted from oncoming vehicle headlights 85 is typically scattered by fog particles present in the air. This results in oncoming vehicle headlights 85 exhibiting a light halo that is relatively larger than the light halo exhibited by oncoming vehicle headlights 83 operating under clear conditions.
  • the controller 30 of the current system 30 may apply one or more light metrics to determine if a light source of interest is a foggy light or a clear light.
  • One light metric will now be described below in reference to FIG. 7.
  • a color filter 100 is generally shown and can be coupled to the image sensor 201 to capture color information.
  • the color filter 100 is exemplarily shown as an RGB color filter array having a plurality of two-by-two sub-arrays, each cha racterized as having two red (R) filters, one green (G) filter, and one blue (B) filter.
  • R red
  • G green
  • B blue
  • other color filters may be used, having clear and/or infra red filters, in addition, or alternatively to any of the filters described above.
  • longer wavelength light e.g. red light
  • shorter wavelength light e.g. blue
  • red filters may be beneficial in determining whether a light source is one of interest, and if so, whether the light source of interest is a foggy light or a clear light.
  • a foggy light source typically exhibits a larger light halo relative to a clear light.
  • red pixels a larger number of pixels of the image sensor 201 detecting wavelengths associated with red light.
  • the average measured light intensity per red pixel is likely to be less when the image sensor 201 images a foggy light as compared to a clear light.
  • Image data from the imager 20 can be supplied to the controller 30 and the controller 30 can determine whether the light source of interest is a foggy light or a clear light based on the number of pixels detecting red light and/or the measured light intensity at each pixel.
  • the controller 30 can determine if a light source is one of interest by analyzing the image data to determine a shape of the light. For instance, an oncoming headlight operating in either foggy or clear conditions typically exhibits a light halo having circular properties.
  • the shape of the light may be determined by locating the outermost red pixel along eight directions defined by a horizontal bidirectional arrow 102, a vertical bidirectional arrow 104, and diagonal bidirectional arrows 106 and 108, respectively.
  • the controller 30 may determine that light sources having circular properties are light sources of interest whereas those having non-circular properties are not light sources of interest.
  • the controller 30 may estimate the density of the fog and/or a visibility range. In one implementation, the controller 30 may estimate the density of fog by monitoring changes to a light halo over a distance and/or time.
  • Such changes may include, but are not limited to, changes to the size, shape, and intensity of the light halo. It should be appreciated that the abovementioned techniques may also be employed to detect the presence of other air particulates, such as snow, rain, smog, and dust, by virtue of their similar interactions with the light halo of a light source of interest.
  • the controller 30 may continuously analyze image data to detect these types of light sources, and subsequently determine if the light source of interest is a foggy light or a clear light. Based on a relationship between the number of detected foggy lights and clear lights, the controller 30 may determine whether or not a foggy condition exists and cause the exterior lights of the controlled vehicle to respond accordingly.
  • This method is described below as being implemented by controller 30 using image data received from imager 20.
  • This method may be a subroutine executed by any processor, and thus this method may be embodied in a non-transitory computer readable medium having stored thereon software instructions that, when executed by a processor, cause the processor to control the equipment of the controlled vehicle, by executing the steps of the method described below.
  • aspects of the inventive method may be achieved by software stored on a non-transitory computer readable medium or software modifications or updates to existing software residing in a non-transitory computer readable medium.
  • Such software or software updates may be downloaded into a first non-transitory computer readable media 32 of controller 30 (or locally associated with controller 30 or some other processor) typically prior to being installed in a vehicle, from a second non-transitory computer readable media 90 located remote from first non- transitory computer readable media 32 (FIG. 1).
  • Second non-transitory computer readable media 90 may be in communication with the first non-transitory computer readable media 32 by any suitable means, which may at least partially include the Internet or a local or wide area wired or wireless network.
  • FIG. 8 shows a general flow cha rt illustrating various steps to be executed by the controller 30.
  • the controller 30 initiates a first pass-through of the method. The method may be initiated by turning ON the system 10 and detecting that it is ready to receive and ana lyze image data, which may occur when the vehicle ignition is turned ON.
  • the controller 30 monitors if the system 10 is in a high beam state. If the controlled vehicle is not operating under a high beam state, the method follows a low beam path shown by arrow A. On the other hand, if the vehicle is operating under a high beam state, the method follows a high beam path shown by arrow B.
  • the low beam path begins at step 1200, where the controller 30 determines if a fog counter limit has been exceeded.
  • the fog counter serves to track the number of frames where no lights are detected and is typically cleared by default during the first pass-through. In this manner, the fog counter ensures that a determination of a foggy condition must be made within the specified number of acquired image frames by preventing foggy and clear light counter values from being stored indefinitely and used at a much later time to generate unreliable fog recommendations.
  • the controller advances to step 1300 and clears the fog counter and also clears any values stored in a foggy light counter and a clear light counter.
  • the controller 30 then advances to step 1400 to end the current pass-through and returns to step 1000 to begin another pass-through.
  • step 1500 the controller 30 advances to step 1500 to check if the system 10 has detected any light sources. If no light sources have been detected in step 1500, the controller 30 advances to step 1600, where it increments the fog counter and then proceeds to step 1400 to end the current pass- through and returns to step 1000 to begin another pass-through. If light sources have been detected in step 1500, the controller 30 identifies the number of foggy lights and clear lights from the detected light sources of interest and stores each value into the corresponding foggy light and clea r light counters in step 1700.
  • the controller 30 then advances to step 1800 to determine if one or more fog entry conditions are satisfied. Satisfying the fog entry condition(s) can be based on a relationship between the number of foggy lights and the number of clea r lights. For instance, one fog entry condition may require a ratio between the value stored in the foggy light counter (i.e. the number of foggy lights) and the value stored in the clear light counter (i.e. the number of clear lights) to be greater than a specified ratio threshold. Another fog entry condition may require a difference between the value stored in the foggy light counter and the value stored in the clear light counter to be greater than a specified difference threshold.
  • the method described herein may require either or both of the above described fog entry conditions to be satisfied in step 1800. Additionally or alternatively, fog entry condition(s) can be satisfied by im plementing other approaches based on a relationship between the number of foggy lights and the number of clear lights. If using a ratio and/or a difference threshold, it may be desirable to limit the total number of clear lights that may be stored in the clear light counter to ensure that a foggy condition may be detected before the fog counter limit is reached, especially if the specified ratio and/or difference thresholds are particularly la rge.
  • the controller 30 may detect such a large number of clear lights, which if stored, may prevent a fog entry condition from being satisfied within the specified number of image frames, if shortly thereafter, the vehicle exits the village onto a less busy road during foggy conditions. In such an instance, the controller 30 may be unable to detect a sufficient amount of foggy lights before the fog counter is cleared despite the presence of a foggy condition.
  • step 1800 if the fog entry condition(s) are not satisfied in step 1800, the controller 30 advances to step 1900 and increments the fog counter. The controller 30 then advances to step 1400 to end the current pass-through before returning to step 1000 to begin another pass-through. Conversely, if the fog entry condition(s) are satisfied in step 1800, the controller 30 advances to step 2000 and clears the fog counter, the foggy light counter, and the clear light counter. The system 10 enters a fog mode setting in step 2100 and the controller 30 generates a signal used to directly or indirectly place the exterior lights of the controlled vehicle in a lower beam state and/or otherwise inhibit automatic high beam control of the exterior lights.
  • the controller 30 may estimate a visibility range and/or the density of fog based on one or more characteristics of the detected foggy light(s), as described previously. Based on that estimation, various lighting functions may be initiated. For instance, a signal may be generated to recommend that the front and rear fog lamps be turned on. Additionally or alternatively, the signal may recommend brightening the taillights of the vehicle.
  • the controller 30 While in the fog mode setting, the controller 30 continuously monitors whether one or more fog exit conditions are satisfied in step 2200. According to one implementation, the controller 30 sets a fog exit timer to expire after a specified amount of time. During that time, if the controller 30 detects a foggy light, the fog exit timer may be either reset or incremented since the detection of the foggy light suggests the presence of an ongoing foggy condition. Additionally or alternatively, the fog exit timer may be decremented whenever the controller 30 detects a clear light. Thus, the speed in which the fog exit timer expires can be made to depend on the number of detected foggy lights and/or clear lights. Expiration of the fog exit timer can satisfy the fog exit condition.
  • the controller 30 exits the fog mode setting and generates a signal in step 2300 that may be used to directly or indirectly re-enable automatic high beam control of the exterior lights of the controlled vehicle.
  • a fog exit timer ensures that the system 10 will not remain in the fog mode setting for an indefinite amount of time if a minimal amount or no light sources of interest are detected.
  • other approaches may be used to satisfy the fog exit condition(s) of step 2200.
  • an un-cleared fog counter associated with step 1200 might still contain a count value even though the high beam path is active. Also, any count values present in the foggy and clear light counters may remain stored until the fog counter limit is exceeded despite the high beam path being active. This ensures that the low beam path is not unnecessarily impacted in instances when the high beams are enabled for only a brief moment and a foggy condition has not been detected.
  • the fog counter and foggy light/clear light counters may be automatically cleared after a specified amount of time elapses to prevent values from being stored indefinitely due to the fog counter being inactive during extended cycling of the high beam path.
  • the high beam path begins in step 2400, where the controller 30 analyzes image data and detects for the presence of backscatter.
  • the controller 30 determines whether the detected amount of backscatter is sufficient to satisfy a fog entry condition and may estimate a visibility range based on the amount of backscatter detected. To determine if the fog entry condition is satisfied, the controller 30 can check whether the detected amount of backscatter exceeds a specified backscatter threshold. Additionally or alternatively, the controller 30 may determine if the fog entry condition is satisfied based on a number of foggy lights and clear lights, as described previously in the low beam path.
  • step 1400 the controller 30 advances to step 1400 to signal the end of the pass-through before returning to step 1000 to initiate another pass-through. Otherwise, upon satisfying the fog entry condition in step 2500, the controller 30 performs in order steps 2000, 2100, 2200, and 2300 in the same manner as previously described in the discussion relating to the low beam path.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

La présente invention concerne un système d'imagerie et un procédé de détection de brouillard. Un imageur est configuré pour imager une scène extérieure et vers l'avant d'un véhicule commandé et pour générer des données d'image correspondant aux images acquises. Un contrôleur est configuré pour recevoir et analyser les données d'image. Lorsque des feux extérieurs du véhicule commandé sont utilisés dans un état de feux de croisement, le contrôleur est capable de détecter des sources de lumière d'intérêt dans les données d'image, de déterminer si chaque source de lumière d'intérêt est une lumière brumeuse ou une lumière claire, et de générer un premier signal si une condition d'entrée de brouillard est satisfaite.
PCT/US2014/052907 2013-08-28 2014-08-27 Système d'imagerie et procédé de détection de brouillard WO2015031478A1 (fr)

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